4c3059e088
Improve code comments. ( #243 )
2017-06-26 14:32:44 +02:00
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
9464b38320
Consistency fix: trajectory_index -> trajectory_id. ( #360 )
2017-06-26 10:02:51 +02:00
7f4f78e451
Fix README formatting. ( #359 )
2017-06-23 15:48:44 +02:00
ff37b0bb7d
Remove output_debug_images. ( #358 )
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This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
10318d920e
Add slides from yesterday and next date. ( #357 )
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Closes #356 .
2017-06-23 13:58:43 +02:00
9fbb65084b
Exclude trimmed submaps from the pose graph serialization. ( #354 )
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Related to #283 .
2017-06-21 17:57:08 +02:00
432cd5dcd3
Delete data of trimmed submaps. ( #353 )
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This is related to #283 .
PAIR=SirVer
2017-06-21 16:36:54 +02:00
0c7b3ee596
Mitigate googlecartographer/cartographer_ros#385 ( #351 )
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Move set_and_check before finding Ceres, because on Ubuntu Zesty,
during finding Ceres, PACKAGE_PREFIX_DIR is overwritten by Eigen.
2017-06-21 15:06:51 +02:00
9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
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- Adds a function to query all SubmapData from the SparsePoseGraph.
- Changes MapBuilder::SubmapToProto to take a SubmapId.
- Remove num_submaps().
2017-06-21 14:21:23 +02:00
16636cd4e1
Remove friends declaration in Submap. ( #350 )
2017-06-21 12:49:44 +02:00
0fbdf6d0ec
Add ground truth proto support for trajectory evaluation. ( #349 )
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This adds support of GroundTruth protos in addition to
text files.
Fixes the ground truth generation code to skip outliers.
Improves the ground truth generation to use expected
relative poses instead of the solution.
Writes constraints including the roll and pitch from the
node for 2D SLAM, so that constraints correctly capture
the expected transform between the 3D poses of scan and
submap in 2D SLAM.
Related to #239 .
Related to #310 .
2017-06-21 11:33:30 +02:00
58bb70f53a
Change Submaps to only track the two active Submaps. ( #348 )
2017-06-20 18:21:42 +02:00
f242b5242a
Use shared_ptr<> for Submap objects. ( #347 )
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Also remove `finished_submap` and `matching_submaps`. These are now
implicit.
Related to #283 .
PAIR=wohe
2017-06-19 17:23:48 +02:00
c8f02264a4
Removes GetSubmapId from SparsePoseGraph. ( #346 )
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PAIR=wohe
2017-06-19 15:46:47 +02:00
5c389cdf4a
Remove mapping::Submaps. ( #345 )
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PAIR=wohe
2017-06-19 15:24:06 +02:00
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
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Use mapping_2d::Submap instead of mapping::Submap in 2D.
Use `finished()` instead of `finished_probability_grid()` in 2D.
PAIR=wohe
2017-06-19 14:43:10 +02:00
8d94fe85e9
Prepare 0.2.0 release ( #344 )
2017-06-19 13:22:57 +02:00
1c1776a967
Add instructions for releasing. ( #342 )
2017-06-19 12:00:12 +02:00
5fa6abe84b
Adds a tool to generate ground truth data. ( #340 )
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Fixes #310 . Not yet tested.
2017-06-16 17:38:13 +02:00
12c3795134
Remove direct access to Submaps from the outside. ( #339 )
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PAIR=SirVer
2017-06-16 10:47:11 +02:00
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
79eeb7d77a
Improve code structure for extrapolation of poses. ( #337 )
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This is in preparation of extrapolating single submap poses
as needed.
2017-06-14 12:49:17 +02:00
30de09bee8
Adds Cartographer logos. ( #336 )
2017-06-14 12:14:08 +02:00
7ce73858ef
Adds a HybridGridPoints processor ( #323 )
2017-06-14 11:34:59 +02:00
cff0c73857
Converted Submap from struct to class. ( #333 )
2017-06-12 17:28:38 +02:00
2d75f4ef56
Move SubmapToProto from Submaps -> Submap. ( #332 )
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PAIR=wohe
2017-06-12 16:27:51 +02:00
521666ce55
Trim node data. ( #331 )
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Also, remove trimmed nodes from proto serialization.
PAIR=wohe
2017-06-12 15:20:49 +02:00
f68da37c6e
Drop trajectory_id from TrajectoryNode. ( #330 )
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PAIR=wohe
2017-06-12 14:28:16 +02:00
1a376c07b2
Change submap state handling in 3D. ( #327 )
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This follows the new code in 2D. Also adds a check that
new constraints are only attempted for finished submaps.
2017-06-09 17:40:22 +02:00
f07f888dab
Remove the deque for constant node data. ( #326 )
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This is needed in preparation of deleting nodes.
Related to #283 .
2017-06-09 16:53:49 +02:00
0c3aa32ad2
Adds slides and announce next open house. ( #321 )
2017-06-09 15:10:20 +02:00
b427259214
Mark trimmed Submaps and remove from scan matching. ( #319 )
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Related to #283 .
PAIR=wohe
2017-06-07 15:52:24 +02:00
c1d4d08a1d
Move AddProbabilityGridToResponse to the Submap object. ( #318 )
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Working towards a thread-safe Submap object. Related to #283 .
PAIR=wohe
2017-06-07 15:13:56 +02:00
b3b9735a4b
Remove trimmed constraints. ( #317 )
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Still missing marking submaps and nodes as trimmed.
PAIR=SirVer
2017-06-07 14:23:58 +02:00
a66147f131
Adds a PureLocalizationTrimmer. ( #316 )
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Related to #315 .
2017-06-07 12:39:04 +02:00
c90b887bfb
Adds API to add trimmers. ( #314 )
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This is related to #283 . First to be implemented for
pure localization and 2D SLAM.
PAIR=SirVer
2017-06-06 17:07:30 +02:00
56529e5968
Tiny cleanup of the MapBuilder. ( #313 )
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GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
2017-06-06 15:20:10 +02:00
ba4f8ca9ee
Tiny cleanup. ( #312 )
2017-06-02 16:44:27 +02:00
0aa9730518
Announce Open House Hangout. ( #311 )
2017-06-02 14:00:25 +02:00
565e9c3eff
Simplify the handling of weights in the optimization problem. ( #309 )
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This replaces the 3x3 (2D) or 6x6 (3D) matrix by the weights
for the translational and rotational component. The matrices
only contain these values now anyway, so this simplifies
the code and increases performance.
Also removes 2D from the UKF implementation which has not been
used for quite some time now.
2017-06-01 17:03:49 +02:00
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
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This follows #307 .
2017-06-01 15:04:07 +02:00
a2e52f81cf
Remove 2D scan matcher covariances. ( #307 )
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This replaces the scaled covariances derived from the Ceres
scan matcher by directly configurable weights. Using covariances
did not provide the expected benefit, and replacing the scaling
matrix by two values will allow a faster evaluation of the cost
function in the future.
2017-05-31 11:56:32 +02:00
4bb02c7240
Add XRayPointsProcessor::bounding_box(). ( #306 )
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Changes XRayPointsProcessor to use one bounding box for all floors.
Makes the bounding box accessible via a public member function.
2017-05-24 14:46:17 +02:00
3d0d1e46b5
Remove unused code. ( #304 )
2017-05-23 14:17:20 +02:00
515db3b4a9
Minor fixes. ( #303 )
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Extract mapping_2d::CreateLocalTrajectoryBuilderOptions() into its own file.
Loop initialization fix in the trajectory_connectivity_test.
Thread safety fixes in sparse_pose_graph.
2017-05-22 14:55:05 +02:00
2d416589a7
Adds a NestedVectorsById<> class template. ( #300 )
2017-05-19 16:58:21 +02:00
0bba56428f
Remove flat indices. ( #299 )
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This cleans up scan_index_to_node_id_, num_nodes_in_trajectory_,
scan_index. Related to #256 .
2017-05-19 14:01:59 +02:00
34b750977b
Do not ignore docker history command errors. ( #298 )
2017-05-19 08:29:09 +02:00
56fc2a9a92
Fix 3D SLAM loop closure issues. ( #296 )
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3D submaps are now oriented approximately gravity aligned.
This is so that accumulating error in the local SLAM frame is
no longer a problem for finding loop closures. It also ensures
that the z search window size is approximately in the gravity
direction.
We now also pass an estimate of gravity orientation when doing
multi-trajectory matches. Otherwise trajectories starting with
different orientation relative to gravity could not be connected.
The gravity alignment is currently derived from the ImuTracker.
It might be possible to further improve on this by using the
latest gravity direction from the optimized poses.
2017-05-18 16:55:11 +02:00
Moritz Münst
Wolfgang Hess
Holger Rapp
Juraj Oršulić
Damon Kohler
jordansmithgoogle